*/
#define AO_GPS_TEST
+#define HAS_GPS 1
#include "ao_host.h"
#include <termios.h>
#include <errno.h>
#define AO_GPS_NUM_SAT_MASK (0xf << 0)
#define AO_GPS_NUM_SAT_SHIFT (0)
+#define AO_GPS_NEW_DATA 1
+#define AO_GPS_NEW_TRACKING 2
+
#define AO_GPS_VALID (1 << 4)
#define AO_GPS_RUNNING (1 << 5)
#define AO_GPS_DATE_VALID (1 << 6)
uint8_t flags;
int32_t latitude; /* degrees * 10⁷ */
int32_t longitude; /* degrees * 10⁷ */
- int16_t altitude; /* m */
+ int16_t altitude_low; /* m */
uint16_t ground_speed; /* cm/s */
uint8_t course; /* degrees / 2 */
uint8_t pdop; /* * 5 */
int16_t climb_rate; /* cm/s */
uint16_t h_error; /* m */
uint16_t v_error; /* m */
+ int16_t altitude_high; /* m */
};
+typedef int32_t gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_GPS_ORIG_ALTITUDE(l) AO_TELEMETRY_LOCATION_ALTITUDE(l)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \
+ ((l)->altitude_low = (a)))
+
#define UBLOX_SAT_STATE_ACQUIRED (1 << 0)
#define UBLOX_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
#define UBLOX_SAT_BIT_SYNC_COMPLETE (1 << 2)